Fig. 9
![(a) Tracking result of quadcopter IGE with proposed NDO. (b) Comparison of height tracking error with PID control only (solid), with controller from Ref. [10] (light dashed), and with nonlinear disturbance observer (heavy dashed).](https://asmedc.silverchair-cdn.com/asmedc/content_public/journal/dynamicsystems/141/7/10.1115_1.4043221/7/ds_141_07_071013_f009.png?Expires=1716453417&Signature=2I1n3ioeU3e3vtR8SSihOBlqCJgDD2o6yKzXJaaKaMpDHrxpOh1WiYoODm~Q9C-T-iZU8vtW2eUR3OdjT5XTKiJ5Tt5dfdmMUx6KLapK4~muHy4ow34snQxFbEibVWOMdGvMhWcHGp2fslSjgEsz2dcnnbRFbMMlOKdLniZaR~6I390hacVRzA0dm96BZYafpVP9ut~vBzkW9aLfayoeRy8yL89BHC~xaHNZd6FYtdNAlxmR-5imeb7MONQkPym-lJ4Tw9t0JK5WnVQVK6SudQdjlRFLiUcvfH5YtxLIbr0S44IMQQxi6V4ZJPGR0F79W4JkpNPZfkVnbfyTewF5TQ__&Key-Pair-Id=APKAIE5G5CRDK6RD3PGA)
(a) Tracking result of quadcopter IGE with proposed NDO. (b) Comparison of height tracking error with PID control only (solid), with controller from Ref. [10] (light dashed), and with nonlinear disturbance observer (heavy dashed).
(a) Tracking result of quadcopter IGE with proposed NDO. (b) Comparison of height tracking error with PID control only (solid), with controller from Ref. [10] (light dashed), and with nonlinear disturbance observer (heavy dashed).
